Design of a controller for stabilization of spherical robot's sideway oscillations

Abstract

In this study, the dynamics and control aspects of a spherical rolling robot's lateral motion are investigated. An approximate, simplified to a single plane, mathematical model is derived using Lagrange equations to check stability of the system. Utilizing the fusion of sensor data, a precise orientation measurement is achieved. Document focuses on a synthesis of a PID controller reducing sideway oscillations that occur in motion of a spherical robot with internal pendulum mechanism.